version: 66.12
glider: 203
mission: 8
dive: 79
start: 7 25 115 0 12 18
data:
$ID,203
$MISSION,8
$DIVE,79
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,96
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,250715,000657,5745.4888,-14844.4014,39,0.8,39,17.4,0.0,0.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.8
$GPS2,250715,001206,5745.4287,-14844.3955,7,0.8,8,17.4,0.0,0.0,10,9.3
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,117.7,70325,-18.0,-11.000,-19.55,2718
$D_GRID,2249
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.92,-194.6,191,2701,868,750,0.0,0.0,0,165,0.00,0.00,-61.85,0.000,16386,0.000,0.000,182,2700,2451,2493,2410,0,0,0,0,0,0,25.92,28.83,25.98
$GC,167,-0.92,-194.6,183,2702,2494,2413,3.3,-3.5,6,216,8.70,1.80,-21.40,0.000,18692,0.238,0.052,2327,3862,3636,3705,3567,0,0,0,0,0,0,25.68,25.31,25.92
$GC,470,-0.88,-194.6,2327,3861,3706,3573,74.4,-20.7,44,485,0.10,1.65,0.00,0.000,3078,0.168,0.020,2348,2683,3639,3705,3573,0,0,0,0,0,0,25.92,26.03,26.05
$GC,779,-0.88,-194.6,2348,2684,3705,3577,128.7,-16.2,75,789,0.00,1.83,0.00,0.000,260,0.000,0.037,2342,3861,3640,3705,3576,0,0,0,0,0,0,26.05,26.06,26.10
$GC,819,-0.88,-194.6,2342,3861,3706,3576,134.1,-15.9,78,829,0.00,1.62,0.00,0.000,1030,0.000,0.021,2342,2706,3639,3705,3573,0,0,0,0,0,0,26.13,26.08,26.12
$GC,1124,-0.88,-194.6,2343,2707,3707,3577,183.9,-15.4,109,1131,0.00,1.77,0.00,0.000,260,0.000,0.037,2335,3853,3640,3705,3575,0,0,0,0,0,0,26.06,26.07,26.12
$GC,1170,-0.88,-194.6,2335,3853,3705,3575,190.6,-15.8,113,1181,0.08,1.62,0.00,0.000,3078,0.173,0.021,2349,2696,3640,3705,3575,0,0,0,0,0,0,25.98,26.09,26.10
$GC,1476,-0.90,-194.6,2349,2697,3705,3578,235.2,-14.1,144,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2695,3640,3705,3576,0,0,0,0,0,0,26.07,26.13,26.13
$GC,1797,-0.92,-194.6,2348,2697,3706,3577,278.8,-13.5,162,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3640,3705,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2096,-0.95,-194.6,2349,2695,3706,3575,319.2,-13.7,172,2107,0.00,2.03,0.00,0.000,516,0.000,0.023,2349,1336,3639,3703,3575,0,0,0,0,0,0,26.08,26.09,26.14
$GC,2136,-0.97,-194.6,2349,1336,3704,3575,323.3,-13.7,173,2143,0.00,2.08,0.00,0.000,1030,0.000,0.026,2348,2706,3639,3703,3575,0,0,0,0,0,0,26.14,26.10,26.15
$GC,2452,-1.00,-194.6,2348,2706,3703,3575,366.4,-13.2,184,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3638,3702,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2752,-1.02,-194.6,2347,2707,3701,3576,405.4,-12.6,194,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2705,3637,3700,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3053,-1.05,-194.6,2348,2707,3699,3577,442.7,-12.3,204,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3636,3698,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3352,-1.07,-194.6,2348,2706,3699,3575,480.2,-12.6,214,3358,0.10,0.00,0.00,0.000,4102,0.097,0.000,2285,2706,3636,3697,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,3652,-1.04,-194.6,2285,2707,3696,3577,529.7,-16.6,224,3658,0.08,0.00,0.00,0.000,2054,0.195,0.000,2297,2706,3635,3695,3575,0,0,0,0,0,0,25.96,26.12,26.08
$GC,3953,-1.04,-194.6,2297,2707,3695,3577,577.9,-15.9,234,3960,0.00,1.75,0.00,0.000,260,0.000,0.039,2293,3845,3634,3694,3575,0,0,0,0,0,0,26.06,26.06,26.13
$GC,3985,-1.03,-194.6,2293,3845,3695,3577,583.2,-16.0,235,3993,0.00,1.62,0.00,0.000,1030,0.000,0.022,2293,2695,3634,3693,3575,0,0,0,0,0,0,26.13,26.10,26.14
$GC,4317,-1.01,-194.6,2293,2695,3694,3575,636.7,-15.6,246,4325,0.10,0.00,0.00,0.000,2054,0.174,0.000,2314,2695,3634,3693,3575,0,0,0,0,0,0,25.94,26.11,26.08
$GC,4617,-1.01,-194.6,2315,2697,3693,3577,678.3,-13.3,256,4624,0.00,1.80,0.00,0.000,260,0.000,0.039,2309,3849,3633,3692,3575,0,0,0,0,0,0,26.06,26.06,26.13
$GC,4658,-1.01,-194.6,2308,3852,3692,3577,682.6,-13.5,257,4665,0.00,1.62,0.00,0.000,1030,0.000,0.022,2308,2705,3633,3691,3575,0,0,0,0,0,0,26.13,26.10,26.14
$GC,4979,-1.01,-194.6,2309,2702,3691,3577,728.8,-14.0,268,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2701,3632,3690,3575,0,0,0,0,0,0,26.06,26.13,26.13
$GC,5279,-1.01,-194.6,2309,2702,3690,3577,770.5,-13.8,278,5287,0.00,1.77,0.00,0.000,260,0.000,0.039,2306,3843,3632,3689,3575,0,0,0,0,0,0,26.06,26.07,26.11
$GC,5336,-1.01,-194.6,2306,3843,3690,3575,775.3,-14.2,279,5346,0.00,1.62,0.00,0.000,1030,0.000,0.022,2306,2698,3631,3688,3575,0,0,0,0,0,0,26.14,26.10,26.14
$GC,5641,-1.01,-194.6,2306,2699,3689,3577,823.6,-14.5,290,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2698,3631,3688,3575,0,0,0,0,0,0,26.07,26.13,26.13
$GC,5941,-1.01,-194.6,2306,2698,3688,3575,866.0,-14.2,300,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2698,3631,3687,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,6241,-1.01,-194.6,2305,2699,3681,3577,907.5,-13.5,310,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2699,3631,3687,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,6541,-1.01,-194.6,2306,2697,3687,3576,947.3,-13.3,320,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2698,3631,3686,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6841,-1.01,-194.6,2306,2698,3688,3575,985.2,-12.0,330,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2698,3630,3686,3575,0,0,0,0,0,0,26.05,26.13,26.11
$STATE,6900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6900,begin apogee
$GC,6904,-0.25,0.0,2307,2810,3687,3576,992.2,-11.8,332,7077,0.80,0.00,166.18,1.084,10246,0.119,0.000,2558,2808,2837,2875,2800,0,0,0,0,0,0,25.94,24.47,23.82
$STATE,7077,end apogee,CONTROL_FINISHED_OK
$STATE,7078,begin climb
$GC,7079,0.92,194.6,2558,2808,2869,2792,997.1,0.0,337,7255,1.08,2.28,163.60,1.084,11012,0.065,0.020,2931,1435,2040,2075,2005,0,0,0,0,0,0,24.63,23.56,23.08
$GC,7404,0.89,207.8,2932,1434,2066,1986,982.5,10.5,348,7425,0.00,2.17,10.77,1.044,9222,0.000,0.026,2931,2795,1988,2028,1949,0,0,0,0,0,0,25.08,25.03,24.13
$GC,7741,0.86,211.0,2931,2797,2022,1939,942.6,10.9,360,7749,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3844,1979,2021,1938,0,0,0,0,0,0,25.64,25.66,25.70
$GC,7793,0.82,211.0,2931,3845,2022,1938,938.7,11.1,361,7800,0.00,1.50,0.00,0.000,1030,0.000,0.024,2931,2802,1979,2021,1937,0,0,0,0,0,0,25.77,25.75,25.78
$GC,8104,0.79,212.5,2931,2803,2021,1938,902.2,10.9,372,8111,0.00,1.65,0.00,0.000,260,0.000,0.040,2931,3859,1978,2020,1937,0,0,0,0,0,0,25.91,25.92,25.98
$GC,8220,0.74,212.5,2932,3858,2021,1936,890.9,12.0,375,8231,0.12,1.52,0.00,0.000,5126,0.174,0.024,2903,2788,1978,2020,1937,0,0,0,0,0,0,25.84,25.98,25.98
$GC,8526,0.74,285.3,2903,2788,2024,1936,860.5,8.2,386,8602,0.00,1.73,68.18,1.010,8964,0.000,0.038,2903,3853,1669,1712,1626,0,0,0,0,0,0,26.01,24.81,24.31
$GC,8616,0.72,336.4,2903,3854,1703,1618,851.9,9.1,389,8675,0.00,1.55,45.80,0.990,9222,0.000,0.023,2906,2787,1455,1502,1409,0,0,0,0,0,0,25.29,25.25,24.15
$GC,8973,0.75,336.4,2906,2788,1492,1395,806.6,12.7,401,8984,0.00,2.08,0.00,0.000,516,0.000,0.025,2906,1431,1442,1490,1395,0,0,0,0,0,0,25.74,25.77,25.80
$GC,9013,0.77,336.4,2907,1432,1490,1396,802.9,12.5,402,9020,0.00,2.12,0.00,0.000,1030,0.000,0.027,2906,2805,1442,1490,1395,0,0,0,0,0,0,25.85,25.82,25.86
$GC,9330,0.79,336.4,2906,2805,1490,1393,764.0,11.9,413,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2806,1439,1486,1393,0,0,0,0,0,0,25.95,26.02,26.01
$GC,9630,0.82,336.4,2906,2805,1489,1392,728.1,12.0,423,9640,0.00,2.08,0.00,0.000,516,0.000,0.025,2906,1439,1440,1488,1392,0,0,0,0,0,0,26.01,26.03,26.08
$GC,9669,0.85,336.4,2906,1438,1490,1391,724.4,12.1,424,9677,0.00,2.08,0.00,0.000,1030,0.000,0.026,2906,2802,1439,1488,1391,0,0,0,0,0,0,26.07,26.03,26.08
$GC,9987,0.87,336.4,2907,2803,1488,1392,685.5,12.0,435,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2802,1439,1488,1391,0,0,0,0,0,0,26.03,26.10,26.10
$GC,10286,0.90,346.1,2907,2803,1489,1392,652.6,10.6,445,10295,0.05,2.05,0.00,0.000,2564,0.163,0.023,2945,1438,1439,1488,1391,0,0,0,0,0,0,26.00,26.08,26.10
$GC,10319,0.92,356.8,2946,1438,1489,1393,649.0,10.6,446,10345,0.00,2.08,16.45,0.903,9222,0.000,0.027,2946,2799,1379,1427,1332,0,0,0,0,0,0,26.10,26.07,25.02
$GC,10649,0.92,356.8,2946,2799,1415,1319,608.1,12.6,457,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2799,1369,1420,1319,0,0,0,0,0,0,25.96,26.03,26.03
$GC,10949,0.92,356.8,2945,2801,1415,1320,569.4,13.1,467,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2799,1366,1413,1319,0,0,0,0,0,0,26.03,26.10,26.09
$GC,11249,0.92,356.8,2946,2799,1415,1318,529.5,13.3,477,11256,0.00,1.60,0.00,0.000,260,0.000,0.041,2945,3850,1366,1414,1319,0,0,0,0,0,0,26.03,26.04,26.10
$GC,11285,0.92,356.8,2946,3851,1416,1319,525.1,13.4,478,11292,0.00,1.50,0.00,0.000,1030,0.000,0.023,2945,2783,1366,1414,1318,0,0,0,0,0,0,26.10,26.07,26.11
$GC,11611,0.92,356.8,2946,2783,1415,1318,482.8,12.5,489,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2784,1366,1414,1318,0,0,0,0,0,0,26.05,26.12,26.11
$GC,11911,0.92,356.8,2946,2785,1415,1319,444.6,13.2,499,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2784,1364,1415,1313,0,0,0,0,0,0,26.06,26.13,26.12
$GC,12212,0.92,356.8,2946,2785,1415,1319,403.4,13.9,509,12219,0.00,1.67,0.00,0.000,260,0.000,0.040,2946,3856,1366,1414,1318,0,0,0,0,0,0,26.05,26.06,26.11
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$STATE,15579,begin surface coast
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$STATE,15595,end surface coast,CONTROL_FINISHED_OK
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15624.84 7178.92
$PA_BOOTCOUNT,385
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$10V_AH,10.19,31.603
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,180088
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